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fixed IMU units (#7960)

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MattRoweEAIF 2024-07-17 12:33:47 +02:00 committed by GitHub
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Docs/ref_sensors.md
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@ -186,10 +186,11 @@ Provides measures that accelerometer, gyroscope and compass would retrieve for t
| `timestamp` | double | Simulation time of the measurement in seconds since the beginning of the episode. | | `timestamp` | double | Simulation time of the measurement in seconds since the beginning of the episode. |
| `transform` | [carla.Transform](<../python_api#carlatransform>) | Location and rotation in world coordinates of the sensor at the time of the measurement. | | `transform` | [carla.Transform](<../python_api#carlatransform>) | Location and rotation in world coordinates of the sensor at the time of the measurement. |
| `accelerometer` | [carla.Vector3D](<../python_api#carlavector3d>) | Measures linear acceleration in `m/s^2`. | | `accelerometer` | [carla.Vector3D](<../python_api#carlavector3d>) | Measures linear acceleration in `m/s^2`. |
| `gyroscope` | [carla.Vector3D](<../python_api#carlavector3d>) | Measures angular velocity in `rad/sec`. | | `gyroscope` | [carla.Vector3D](<../python_api#carlavector3d>) | Measures angular velocity in `rad/s`. |
| `compass` | float | Orientation in radians. North is `(0.0, -1.0, 0.0)` in UE. | | `compass` | float | Orientation in radians. North is 0 radians. |
!!! note
For the compass, North is 0 radians. East is *pi*/2 radians, South is *pi* radians, West is 3*pi*/2 radians. North is in the direction of decreasing Y in CARLA's global coordinate system. East is in the direction of increasing X. The compass value converted to degrees is equal to 90 - yaw.
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## Lane invasion detector ## Lane invasion detector